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CMA Dishmachines GR Painting Robot Series Installation And Connection Instructions

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GR Painting Robot Series
Installation and Connection Instruction Manual
Version No.：ZL-GR6150-001-V1
Issue Date：January 2020
The copyright is reserved for CMA (WUHU) Robotics Company Limited
For customer use only and any unauthorized use of this manual is strictly prohibited
CMA (WUHU) Robotics Company Limited
No.96, East Wanchun Road, Jiujiang Economic Development District, Wuhu, Anhui Province
TEL：400-052-8877
CMA
CMA (WUHU) Robotics Company Limited
Supplier of Intelligent Painting Robots

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Summary of Contents for CMA Dishmachines GR Painting Robot Series

  • Page 1 GR Painting Robot Series Installation and Connection Instruction Manual Version No.：ZL-GR6150-001-V1 Issue Date：January 2020 The copyright is reserved for CMA (WUHU) Robotics Company Limited For customer use only and any unauthorized use of this manual is strictly prohibited CMA (WUHU) Robotics Company Limited No.96, East Wanchun Road, Jiujiang Economic Development District, Wuhu, Anhui Province...
  • Page 3  ZL-GR-004-V1： Remote Assistance Manual for GR Painting Robot Series.  ZL-GR-005-V1： IO Communication Instruction Manual GR Painting Robot Series.  ZL-GR-006-V1： Program Editor Instruction Manual for GR Painting Robot Series  ZL-GR6150-001-V1 Installation and Connection Instruction Manual for GR6150 Painting Robot.
  • Page 4 ZL-GR6150-001-V1 Installation and Connection Instruction Manual About the Manual The target readers of the manual include professionals involved in robot operation, maintenance and technical service. This manual intends to explain how to use the program editor for all the GR painting robots designed by CMA. The warning pictograms are classified into four categories, “danger”, “caution”, “attention”...
  • Page 5 ZL-GR6150-001-V1 Installation and Connection Instruction Manual manual if the present one is damaged or lost. CMA is not responsible for any consequence caused by any unauthorized modification or change  of the robot. CMA (WUHU) Robotics Company Limited...

  • Page 6: Table Of Contents

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual Contents Chapter One Safety........................1 1.1 Application guide....................1 1.2 Safety precautions....................1 Chapter Two Handling and product confirmation..............2 2.1Product packaging and unloading................2 2.2 Preparation before installation and connection............2 2.3 Installation environment requirements..............2 2.4 Product confirmation....................3 Chapter Three Installation and connection of robot body............
  • Page 7 ZL-GR6150-001-V1 Installation and Connection Instruction Manual 4.3 Daily maintenance....................26 4.3.1 Replace the fuse....................27 4.3.2 Replace the drive....................29 4.4.3 Replace the radiator fan..................31 4.3.4 Replace the cooling fan of the drive..............32 4.3.5 Check and replace the dust filter................33 Chapter Five Installation and connection of robot explosion proof cabinet......35 5.1 Precautions for robot explosion protection............35 5.2 Introduction of explosion proof electric cabinet...........35...

  • Page 9: Chapter One Safety

    Installation and Connection Instruction Manual ZL-GR6150-001-V1 Chapter One Safety 1.1 Application guide According to the relevant national and local laws, regulations and regulations, safety is the most basic concern when using industrial systems including robots. In the accidents of personal injury and property loss caused by the use of robots, the factories using robots are responsible.

  • Page 10: Chapter Two Handling And Product Confirmation

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual Chapter Two Handling and product confirmation 2.1Product packaging and unloading GR6150 robot is packed with wooden pallet. The control cabinet, explosion-proof cabinet and accessory box of the robot are all placed on a complete wooden pallet and protected by vacuum moisture-proof tin foil bag.

  • Page 11: Product Confirmation

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual spraying environment; The robot control cabinet does not have explosion-proof function and must be installed in a  safe environment isolated from the dangerous area; The installation position of the control cabinet should be able to see the movement of the ...

  • Page 12: Chapter Three Installation And Connection Of Robot Body

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual Chapter Three Installation and connection of robot body 3.1 Requirements for installation site of body GR6150 robot body is equipped with explosion-proof function as standard, and its body can be installed to work in the environment with explosion risk. Please refer to the explosion-proof certification mark for details.

  • Page 13: Handling Methods

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual When handling the robot and control device, please confirm the weight and steps according to the method recorded in the manual. If the operation cannot be carried out according to the specified method, the robot and control device may overturn or fall Attention during the handling process, resulting in accidents.

  • Page 14: Fixation Of Robot Body

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual （2） Handling method 2: Use forklift for handling. Removal of fork X2 after handling When handling, please install and use the fixed fixture! When using other handling methods instead of crown block and forklift, please pay attention to that the robot arm and motor cannot be subjected to external force! Attention After unpacking and installing, always remove the handling fixture and rubber pad!
  • Page 15 ZL-GR6150-001-V1 Installation and Connection Instruction Manual Wall mounting Floor mounting Size of robot base (1 ) Floor mounting First fix the bottom plate on the ground. We recommend that the thickness of the bottom plate should be more than 30mm, and use 8 chemical bolts above M16 to fix the bottom plate on the ground. The base of the robot is firmly fixed on the base plate through its four mounting holes with M16 socket head screws (the screw length must ensure that the screw length reaches 1.5 times of the nominal diameter of the thread).
  • Page 16 ZL-GR6150-001-V1 Installation and Connection Instruction Manual chemical bolts group 8 set ( above M20) “ Robot installation example ” Too long or too short screw for fixing robot base will cause bad fixing accident! The connection strength of chemical bolts depends on the strength of concrete. When the strength of concrete is insufficient, it can be strengthened by the following methods: Increase the number of chemical bolt group;...

  • Page 17: Cable Connection Between Robot Body And Control Cabinet

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual Upside down installation Wall-mounted installation Specifications for installation and fixing Mounting hole 4-φ18 or 6-φ18 Fixed component M16x60 (length is Strength grade: 12.9 recommended) Tightening torque 318Nm (recommended) Flatness of mounting ≤0.5mm surface Flat Material S45C，...
  • Page 18 ZL-GR6150-001-V1 Installation and Connection Instruction Manual to avoid cable twisting, winding, etc. At the same time, to avoid the interference of power line to encoder line, the power line cable and encoder line cable are respectively placed in their own independent line slot. The connection is shown in the figure below：...
  • Page 19 ZL-GR6150-001-V1 Installation and Connection Instruction Manual Plug-in socket of electric control Plug-in socket of electric control cabinet power line cabinet encoder line Encoder-line Ground-line Power-line CMA (WUHU) Robotics Company Limited...

  • Page 20: Robot Wrist End Tool Installation

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual 3.5 Robot wrist end tool installation When installing tools for the robot, it must be confirmed that the power supply of the robot control cabinet and the main power supply have been cut off, and the installation must be Attention carried out according to the relevant installation requirements.
  • Page 21 ZL-GR6150-001-V1 Installation and Connection Instruction Manual If the fastening screw is too long, the fastening screw will touch the bottom, causing the tool not to be installed safely on the flange and interfering with the rotation of the 6-axis. Attention 3）...
  • Page 22 ZL-GR6150-001-V1 Installation and Connection Instruction Manual 1. As calculated above, if the total cross-sectional area of the air pipe exceeds 25% of the cross-sectional area of the wrist inner aperture, the life of the air pipe will be shortened. Even if the plot ratio is less than 25%, the air pipe life will be shortened with the wrist posture angle.

  • Page 23: Chapter Four Installation And Connection Of Robot Control Cabinet

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual Chapter Four Installation and connection of robot control cabinet This chapter describes the installation and connection of the control cabinet of the spraying robot. The relevant wiring harness and components in the cabinet have been assembled and connected before delivery, and passed the inspection of our quality inspection and process personnel.
  • Page 24 ZL-GR6150-001-V1 Installation and Connection Instruction Manual convenient for the operator to observe the robot when standing in front of the control panel; 4. When the machine is in operation, the door of the electric cabinet must be kept locked, and the key must be kept by professional technicians;...

  • Page 25: Installation And Connection Instructions Of Control Cabinet

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual 4.2 Installation and connection instructions of control cabinet 4.2.1 Brief introduction of external installation of control cabinet The figure above shows the main external components of GR6150 robot control cabinet, which are as follows: A.
  • Page 26 ZL-GR6150-001-V1 Installation and Connection Instruction Manual Electric cabinet switch and panel button Installation and layout of relevant components on the left side of electric cabinet CMA (WUHU) Robotics Company Limited...
  • Page 27 ZL-GR6150-001-V1 Installation and Connection Instruction Manual Installation and layout of relevant components on the right side of electric cabinet Among them, A, B, C, E, F, H and other components have been installed when the cabinet is delivered from the factory. Only the teaching box, coding cable, power cable (including holding brake), explosion-proof cable and power supply aviation plug port of the cabinet need to be installed at the customer's site.
  • Page 28 ZL-GR6150-001-V1 Installation and Connection Instruction Manual Aviation plug port of the electric cabinet power supply Cabinet fan inlet port The connection between the coding cable, the power cable aviation plug in port and the robot body has been described above, and will not be introduced here. The wiring between the teaching box and the control cabinet is as follows.
  • Page 29 ZL-GR6150-001-V1 Installation and Connection Instruction Manual Huatu teach pendant CMA (WUHU) Robotics Company Limited...

  • Page 30: Introduction To Internal Installation Of Control Cabinet

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual 4.2.2 Introduction to internal installation of control cabinet When the robot control cabinet is delivered from the factory, the installation and wiring of various internal components have been completed. After the installation of the cabinet is completed on site, the relevant professional personnel will carry out the test.
  • Page 31 ZL-GR6150-001-V1 Installation and Connection Instruction Manual E. Controller; F. I / O input and output module; G. Safety PLC + safety relay + contactor; H. Temperature sensor; 1. Fan; J. Terminal block; K. Power (including brake) aviation plug - Orange cable, coded aviation plug - Green + blue cable, explosion-proof aviation plug - black cable;...
  • Page 32 ZL-GR6150-001-V1 Installation and Connection Instruction Manual Detailed wiring and layout in cabinet 2 Detailed wiring and layout in cabinet 3 CMA (WUHU) Robotics Company Limited...
  • Page 33 ZL-GR6150-001-V1 Installation and Connection Instruction Manual Detailed wiring and layout in cabinet 4 Detailed wiring and layout in cabinet 5 CMA (WUHU) Robotics Company Limited...

  • Page 34: Daily Maintenance

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual Detailed wiring and layout in cabinet 6 4.3 Daily maintenance The work related to the replacement of parts described can be carried out according to the instructions of the after-sales service department, and generally qualified personnel can carry out the work, which does not necessarily need the personnel of CMA(Wuhu) Robotics Technology Co., Ltd.

  • Page 35: Replace The Fuse

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual The operation contents are as follows: Replacement of structural parts of equipment  Adjustment, repair or replacement of electrical system components  Maintenance of safety equipment and warning equipment  Adjustment, repair or replacement of control system components ...
  • Page 36 ZL-GR6150-001-V1 Installation and Connection Instruction Manual The sheet fuse fu31, fu32, fu33, fu34, fu35  are located next to the general isolator and are equipped with a red LED lamp. The LED lights up when the fuse is blown.  Replace fuse 2 Open the fuse cover ...

  • Page 37: Replace The Drive

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual 4.3.2 Replace the drive Enable connection end (blue line)  Ethernet connection terminal (red cable in the  figure, other colors may also be used) Feedback connector (blue line)  Replace drive step 1 Disconnect the terminals at the bottom of ...
  • Page 38 ZL-GR6150-001-V1 Installation and Connection Instruction Manual Use No.5 T-handle Allen key to loosen the  bolt as shown in the figure Replace drive step 4 Lift the drive, pull it out from below and  remove it completely. Replace drive step 5 Insert the new drive into the old drive slot and ...

  • Page 39: Replace The Radiator Fan

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual Tighten the two M6 bolts with No. 5 Allen  key. Do not use a torque greater than 5 Nm. Re-connect all disconnected cables as soon  as possible. Replace drive step 7 Open the hinge cover and set the address of ...

  • Page 40: Replace The Cooling Fan Of The Drive

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual The cooling fan will eject naturally from the  installation position. When the fan falls, you need to hold it with  your hand and gently remove it Insert the new cooling fan into the original ...

  • Page 41: Check And Replace The Dust Filter

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual Press the fastener on the bottom of the fan  cable. Once you remove the old fan, replace it with a  new one and re-connect the power cord in the drive Reposition the fan ...
  • Page 42 ZL-GR6150-001-V1 Installation and Connection Instruction Manual If the filter accumulates too  much dust, replace it in time.  Install the protective grille Check and replace the dust filter step 3 CMA (WUHU) Robotics Company Limited...

  • Page 43: Chapter Five Installation And Connection Of Robot Explosion Proof Cabinet

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual Chapter Five Installation and connection of robot explosion proof cabinet 5.1 Precautions for robot explosion protection The company's spraying robot has explosion-proof function, using internal pressurization and internal safety mechanism and other protection methods. In order to ensure safe operation, the following instructions must be strictly observed.
  • Page 44 ZL-GR6150-001-V1 Installation and Connection Instruction Manual 4 —— constant voltage indicator of explosion proof cabinet; 5 —— fault indicator of explosion-proof cabinet; 2. Introduction to the interior of explosion proof cabinet 1 -- power supply module; 2 -- Safety PLC + safety relay (Pilz safety PLC + Phoenix safety relay); 3 -- explosion proof barrier;...

  • Page 45: Cable And Gas Circuit Connection Of Explosion Proof Cabinet

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual between various internal components have been completed. After the installation and fixation of the electric cabinet on the customer's site, the explosion-proof aviation plug-in cable can be connected to the aviation plug interface reserved in the control cabinet. The test shall be conducted by relevant professionals.

  • Page 46: Gas Circuit Connection Of Explosion Proof Cabinet

    ZL-GR6150-001-V1 Installation and Connection Instruction Manual 5.3.2 Gas circuit connection of explosion proof cabinet The gas circuit connection of explosion-proof cabinet includes two parts: the first part is the air inlet interface (connected with the gas supply pipeline), and the second part is the air outlet interface (connected with the robot body).
  • Page 47 ZL-GR6150-001-V1 Installation and Connection Instruction Manual Before the main gas circuit is connected to the explosion-proof cabinet, it is necessary to filter, dry and lubricate. Attention The 3-way air outlet interface of explosion-proof cabinet is mainly connected with 3 reserved air pipes of robot body.
  • Page 48 Installation and Connection Instruction Manual ZL-GR6150-001-V1 CMA(Wuhu) Robotics Co., Ltd Efort Intelligent Equipment Co., Ltd. No. 96, East Wanchun Road, Jiujiang Economic No. 96, East Wanchun Road, Jiujiang Economic Development District, Wuhu, Anhui Province Development District, Wuhu, Anhui Province www.cmarobot.com.cn www.efort.com.cn Service Hotline: 400-052-8877 Service Hotline: 400-052-8877...

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